CN106737824A - The flexible rotational joint of electromagnetic type stiffness variable - Google Patents
The flexible rotational joint of electromagnetic type stiffness variable Download PDFInfo
- Publication number
- CN106737824A CN106737824A CN201611257491.3A CN201611257491A CN106737824A CN 106737824 A CN106737824 A CN 106737824A CN 201611257491 A CN201611257491 A CN 201611257491A CN 106737824 A CN106737824 A CN 106737824A
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- China
- Prior art keywords
- rotor
- stator
- output shaft
- ball bearing
- base
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
A kind of flexible rotational joint of the electromagnetic type stiffness variable of robotics, including：Electromagnetism element with variable rigidity, articular shell and the base of output shaft are provided with, wherein：Articular shell, base and electromagnetism element with variable rigidity are coaxially disposed, and output shaft is respectively fixed at two ends with the first ball bearing and the second ball bearing, and the first ball bearing is arranged in articular shell, and the second ball bearing is arranged in base；Described electromagnetism element with variable rigidity includes the stator and rotor that are coaxially disposed with output shaft, wherein：Stator inner circumferential is evenly equipped with some stator cores, and stator coil is wound with outside stator core, and rotor is arranged in stator, rotor core is oppositely arranged with stator core, output shaft is fixedly connected with rotor by keyway arrangements, and rotor upper surface is provided with back-up ring, and back-up ring is connected with the first ball bearing.The torsional rigidity that the present invention passes through current control regulation cradle head, with mechanical structure is simple, lightweight, small volume, quick and convenient stiffness tuning the features such as.
Description
Technical field
The present invention relates to a kind of technology of robot field, specifically a kind of compliant rotational of electromagnetic type stiffness variable
Joint.
Background technology
With continuing to develop for robot technology, robot just little by little enters industry and daily life, more
The interaction of robot-environment, robot-people is needed come more occasions.Conventional rigid driver cannot be directly to interaction
The power of middle change is complied with.Caused impact is collided during robot interactive in order to relax, protection operating personnel, machine
People and the safety of environmental unit, while adapting to the demand of different working conditions, in recent years, design with output variable rigidity energy
Flexible joint/the driver of power has obtained increasing research concern.
The design of current variation rigidity flexible joint is based primarily upon：1. adjusting slider position, changes the built-in spring leaf in joint
Effective length adjusts its flexible rigidity, and then changes the output rigidity in joint；2. the pretension of the built-in spring in joint is pre-adjusted
Or pre-stretching amount, so as to change the rigidity in joint；3. be based on lever principle, lever two ends connect respectively joint output connecting rod and
Built-in elastic unit, by changing output and the transmission of Flexible element than realizing the regulation and control of joint stiffness.
Generally speaking, the design of the above is all based on mechanical principle.The change of joint output rigidity is to a certain extent
All rely on the change of intra articular mechanical structure.And the change of this mechanical structure, need to be set by intra articular again
Special regulation motor and governor motion realize, so that the internal structure in joint is more complicated, delays the firm of joint
Degree change response, while increasing the volume and weight in joint, improves the manufacturing cost in joint.
The content of the invention
The present invention is directed to deficiencies of the prior art, it is proposed that a kind of compliant rotational of electromagnetic type stiffness variable is closed
Section, the torsional rigidity of cradle head is adjusted by Electromagnetic Drive, with mechanical structure is simple, lightweight, small volume, stiffness tuning
Quick and convenient the features such as.
The present invention is achieved by the following technical solutions,
The present invention includes：Electromagnetism element with variable rigidity, articular shell and the base of output shaft are provided with, wherein：Articular shell, bottom
Seat is coaxially disposed with electromagnetism element with variable rigidity, and output shaft is respectively fixed at two ends with the first ball bearing and the second ball bearing, the
One ball bearing is arranged in articular shell, and the second ball bearing is arranged in base, week between articular shell top and base
To being evenly equipped with some banking pins.
Described electromagnetism element with variable rigidity includes the stator and rotor that are coaxially disposed with output shaft, wherein：Stator inner circumferential
Some stator cores are evenly equipped with, stator coil is wound with outside stator core, rotor is arranged in stator, rotor core and stator iron
Core is oppositely arranged, and output shaft is fixedly connected with rotor by keyway arrangements, and rotor upper surface is provided with back-up ring, back-up ring and the first ball
Bearing is connected.
Rotor core is rotated in the range of banking pin in described flexible rotational joint, and its torsional rigidity is with input current
Change and change, and the relation being mutually proportionate.
Described rotor is circumferentially evenly equipped with some drag hooks in upper and lower end face, and balancing spring phase is passed through between drag hook and banking pin
Even.
Described articular shell is provided with the drive end bearing bracket of perforate, and output shaft one end is connected through drive end bearing bracket with output connecting rod, together
When drive end bearing bracket the first ball bearing is fixed on the positioning with back-up ring.
Described base is provided with rear end cap, and rear end cap carries out axially position to the second ball bearing and consolidates with the output shaft shaft shoulder
It is fixed.
Technique effect
Compared with prior art, the present invention is based on galvanomagnetic-effect, by the size of current in control input stator coil, changes
Become attraction of the stator core to rotor core, so that joint torsional rigidity is adjusted, with easy to adjust, fast response time excellent
Point；The present invention need not set extra regulation motor and transmission mechanism so that the internal structure in joint is simpler, volume more
Step up to gather, quality it is lighter.
Brief description of the drawings
Fig. 1 is the structural representation after external shell cutting of the present invention；
Fig. 2 is electromagnetism element with variable rigidity structural representation in the present invention；
Fig. 3 is sectional structure chart of the present invention；
Fig. 4 is rotor slewing area schematic diagram of the present invention；
Fig. 5 be the present invention in Light Condition when operation principle schematic diagram；
Fig. 6 be the present invention in load condition when operation principle schematic diagram；
In figure：Articular shell 1, base 2, stator 3, stator core 301, stator coil 302, rotor 4, rotor core 401,
Output shaft 5, banking pin 6, balancing spring 7, drag hook 8, the first ball bearing 9, the second ball bearing 10, drive end bearing bracket 11, back-up ring 12,
Rear end cap 13.
Specific embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed implementation method and specific operating process, but protection scope of the present invention is not limited to following implementations
Example.
Embodiment 1
As shown in Figure 1, Figure 2 and Figure 3, the present embodiment includes：It is provided with electromagnetism element with variable rigidity, the articular shell 1 of output shaft 5
With base 2, wherein：Articular shell 1, base 2 are coaxially disposed with output shaft 5, and output shaft 5 is respectively fixed at two ends with the first ball axle
9 and second ball bearing 10 are held, the first ball bearing 9 is arranged in articular shell 1, and the second ball bearing 10 is arranged on base 2
It is interior；
Described electromagnetism element with variable rigidity includes the stator 3 and rotor 4 that are coaxially disposed with output shaft 5, wherein：In stator 3
Circumferentially it is evenly equipped with outside four stator cores 301, stator core 301 and is wound with stator coil 302, rotor 4 is arranged in stator 3,
Four rotor cores 401 are oppositely arranged with stator core 301 in rotor 4, and output shaft 5 is fixed by keyway arrangements with rotor 4 and connected
Connect, the upper surface of rotor 4 is provided with back-up ring 12, back-up ring 12 is connected with the first ball bearing 9.
Described articular shell 1 is bell shape, the cannular boss that described base 2 is designed for multi-stage stairs, articular shell 1
Bottom be in contact with base 2.
Described rotor 4 is with output shaft 5 axially through output shaft shaft shoulder positioning.
The rotatable scope of flexible rotational joint is [- 180 °/n, 180 °/n] in theory, and n is the number of rotor core 401
Amount；As shown in figure 4, n=4 in the present embodiment, then the maximum slewing area of theoretical rotor is [- 45 °, 45 °]；When angle of rotor is super
45 ° are crossed, rotor core can depart from original equilbrium position by adjacent stator core 301 " capture "；
As shown in Fig. 2 in order to prevent rotor 4 from exceeding theoretical slewing area, the described top of articular shell 1 and bottom after overloading
Four banking pins 6 have circumferentially been uniformly arranged between seat 2；As shown in Figure 4, it is contemplated that size of banking pin 6 etc., rotor 4 actually may be used
The angular range of rotation is (- θ, θ), wherein θ<45°.
Further, described rotor 4 is evenly equipped with four drag hooks 8 circumferential per side, leads between drag hook 8 and banking pin 6
Overbalance spring 7 is connected, corresponds, and prevents under powering-off state, and rotor 4 is in complete unconfined state and deviates it and put down
Weighing apparatus position；Torsion output rigidity can also be increased to a certain extent simultaneously.
Described articular shell 1 is provided with the drive end bearing bracket 11 of perforate, and the one end of output shaft 5 is through drive end bearing bracket 11 and exports connecting rod phase
Even, while 12 pairs of the first ball bearings 9 of drive end bearing bracket 11 and back-up ring are fixed on the positioning.
Described base 2 is provided with rear end cap 13, and rear end cap 13 is positioned with the output shaft shaft shoulder to the second ball bearing 10
It is fixed.
The embodiment of the present invention is operationally：
As shown in figure 5, under the Light Condition of joint, the input current of stator coil 302, rotor are given by outside dc source
Iron core 401 can be subject to the magnetic attraction F produced by stator 3；Under magnetic attraction F effects, rotor core 401 can be just to stator iron
Core 301 is in equilbrium position；Now, the attraction of the corresponding rotor core 401 of stator core 301 pairs is along stator core/rotor
The air gap between iron core center line direction, and two groups of iron cores is minimum, and magnetic circuit reluctance is minimum, and joint enters the equilibrium-like of stabilization
State.
As shown in fig. 6, applying to load in the end of output shaft 5, joint is acted on by moment of face M, and it is inclined that rotor 4 occurs angle
Turn, rotor core 401 circumferentially produces dislocation relative to stator core 301, cause stator 3 to the magnetic of each rotor core 401
No longer along iron core center line direction, magnetic attraction synthesizes a restoring moment in opposite direction with moment of face M to attraction F；Work as external force
Square M discharges, and under restoring moment effect, rotor core 401 resets；Whole flexible joint shows the mechanical characteristic of torsion spring.It is fixed
Subcoil 302 is passed through that electric current is bigger, and stator core 301 is stronger to the magnetic force that rotor core 401 is produced, and makes 4 turns of rotor
Moment of face needed for dynamic equal angular also increases therewith, i.e. the torsional rigidity increase of flexible joint；Conversely, when coil current subtracts
Small, the torsional rigidity in joint reduces.
Claims (5)
1. a kind of flexible rotational joint of electromagnetic type stiffness variable, it is characterised in that including：It is provided with the electromagnetism variation rigidity of output shaft
Unit, articular shell and base, wherein：Articular shell, base and electromagnetism element with variable rigidity are coaxially disposed, output shaft two ends difference
The first ball bearing and the second ball bearing are fixed with, the first ball bearing is arranged in articular shell, and the second ball bearing sets
Put in base, some banking pins are circumferentially evenly equipped between articular shell top and base；
Described electromagnetism element with variable rigidity includes the stator and rotor that are coaxially disposed with output shaft, wherein：Stator inner circumferential is uniform
There are some stator cores, stator coil is wound with outside stator core, rotor is arranged in stator, rotor core and stator core phase
To setting, output shaft is fixedly connected with rotor by keyway arrangements, and rotor upper surface is provided with back-up ring, back-up ring and the first ball bearing
It is connected；
Rotor core is rotated in the range of banking pin in described flexible rotational joint, its torsional rigidity with input current change
And change.
2. electromagnetic type variation rigidity flexible rotational joint according to claim 1, it is characterized in that, described banking pin quantity and
Rotor core quantity is identical, and the rotatable angular range of rotor core is (- θ, θ), and θ ＜ 180 °/n, n are rotor core quantity.
3. electromagnetic type variation rigidity flexible rotational joint according to claim 2, it is characterized in that, described rotor is in upper and lower side
Face is circumferentially evenly equipped with some drag hooks, is connected by balancing spring between drag hook and banking pin.
4. electromagnetic type variation rigidity flexible rotational joint according to claim 1, it is characterized in that, described articular shell is provided with
The drive end bearing bracket of perforate, output shaft one end is connected through drive end bearing bracket with output connecting rod, while drive end bearing bracket and back-up ring are to the first ball axle
Hold and be fixed on the positioning.
5. electromagnetic type variation rigidity flexible rotational joint according to claim 1, it is characterized in that, described base is provided with rear end
Lid, rear end cap is fixed on the positioning with the output shaft shaft shoulder to the second ball bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611257491.3A CN106737824A (en) | 2016-12-30 | 2016-12-30 | The flexible rotational joint of electromagnetic type stiffness variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611257491.3A CN106737824A (en) | 2016-12-30 | 2016-12-30 | The flexible rotational joint of electromagnetic type stiffness variable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737824A true CN106737824A (en) | 2017-05-31 |
Family
ID=58954557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611257491.3A Pending CN106737824A (en) | 2016-12-30 | 2016-12-30 | The flexible rotational joint of electromagnetic type stiffness variable |
Country Status (1)
| Country | Link |
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| CN (1) | CN106737824A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234632A (en) * | 2017-06-26 | 2017-10-10 | 哈尔滨工业大学 | A kind of energy-conservation variation rigidity elastic joint based on differential gear train |
| CN109454667A (en) * | 2018-11-20 | 2019-03-12 | 东台市海邦电气有限公司 | A kind of rocker arm machinery bed magnetic force rotational structure |
| CN110978045A (en) * | 2019-12-20 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Magnetic force joint rigidity-variable actuator |
| WO2021062699A1 (en) * | 2019-09-30 | 2021-04-08 | 西门子（中国）有限公司 | Brake assembly and robot joint with same, and robot |
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| WO2008029969A1 (en) * | 2006-09-04 | 2008-03-13 | Korea Institute Of Science And Technology | Device for generating stiffness and joint of robot manipulator comprising the same |
| CN201251980Y (en) * | 2008-08-05 | 2009-06-03 | 北京航空航天大学 | Driving smooth device capable of adopting magnetic force to realize adjustable rigidity |
| CN203611681U (en) * | 2013-12-02 | 2014-05-28 | 江苏大学 | Electric control rigidity-adjustable active lateral stabilizing device |
| CN203926233U (en) * | 2014-07-15 | 2014-11-05 | 九江学院 | The resonant hydraulic filter of a kind of electromagnetic type automated variable rigidity |
| CN104179746A (en) * | 2014-08-15 | 2014-12-03 | 武汉科技大学 | Self-servo hydraulic robot joint capable of continuously rotating |
| CN104786232A (en) * | 2015-05-06 | 2015-07-22 | 西华大学 | Backlash-adjustable internal meshing drum-shaped worm drive slow drive device |
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2016
- 2016-12-30 CN CN201611257491.3A patent/CN106737824A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008029969A1 (en) * | 2006-09-04 | 2008-03-13 | Korea Institute Of Science And Technology | Device for generating stiffness and joint of robot manipulator comprising the same |
| CN201251980Y (en) * | 2008-08-05 | 2009-06-03 | 北京航空航天大学 | Driving smooth device capable of adopting magnetic force to realize adjustable rigidity |
| CN203611681U (en) * | 2013-12-02 | 2014-05-28 | 江苏大学 | Electric control rigidity-adjustable active lateral stabilizing device |
| CN203926233U (en) * | 2014-07-15 | 2014-11-05 | 九江学院 | The resonant hydraulic filter of a kind of electromagnetic type automated variable rigidity |
| CN104179746A (en) * | 2014-08-15 | 2014-12-03 | 武汉科技大学 | Self-servo hydraulic robot joint capable of continuously rotating |
| CN104786232A (en) * | 2015-05-06 | 2015-07-22 | 西华大学 | Backlash-adjustable internal meshing drum-shaped worm drive slow drive device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234632A (en) * | 2017-06-26 | 2017-10-10 | 哈尔滨工业大学 | A kind of energy-conservation variation rigidity elastic joint based on differential gear train |
| CN109454667A (en) * | 2018-11-20 | 2019-03-12 | 东台市海邦电气有限公司 | A kind of rocker arm machinery bed magnetic force rotational structure |
| WO2021062699A1 (en) * | 2019-09-30 | 2021-04-08 | 西门子（中国）有限公司 | Brake assembly and robot joint with same, and robot |
| CN114341519A (en) * | 2019-09-30 | 2022-04-12 | 西门子（中国）有限公司 | Brake assembly, robot joint with brake assembly and robot |
| CN114341519B (en) * | 2019-09-30 | 2023-05-16 | 西门子（中国）有限公司 | Brake assembly, robot joint with brake assembly and robot |
| EP4019796A4 (en) * | 2019-09-30 | 2023-05-17 | Siemens Ltd., China | Brake assembly and robot joint with same, and robot |
| CN110978045A (en) * | 2019-12-20 | 2020-04-10 | 中国科学院沈阳自动化研究所 | Magnetic force joint rigidity-variable actuator |
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Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |